CN116539034B - Inertia combined measuring device - Google Patents
Inertia combined measuring device Download PDFInfo
- Publication number
- CN116539034B CN116539034B CN202310827373.5A CN202310827373A CN116539034B CN 116539034 B CN116539034 B CN 116539034B CN 202310827373 A CN202310827373 A CN 202310827373A CN 116539034 B CN116539034 B CN 116539034B
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- inner cover
- outer cover
- cover
- measurement unit
- dustcoat
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- 239000013307 optical fiber Substances 0.000 claims description 28
- 238000005259 measurement Methods 0.000 claims description 25
- 238000009413 insulation Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 claims 1
- 230000001052 transient effect Effects 0.000 abstract description 4
- 239000000835 fiber Substances 0.000 description 5
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses an inertial combination measuring device, which comprises an outer cover and an inner cover which are cylindrical, wherein the inner cover is coaxially arranged in the outer cover and is clung to the outer cover; a plurality of pairs of guide blocks which are oppositely arranged are arranged above the end face of the top port of the outer cover, two adjacent pairs of guide blocks are fixedly connected in series through ribs, so that the guide blocks are surrounded into an annular array to be arranged, a moving block is slidably arranged between each pair of guide blocks, the moving direction of the moving block is along the radial direction of the outer cover, a driving thread is arranged on the bottom end face of the moving block, the driving thread can be matched with a plane thread formed on the end face of the top port of the outer cover, and the ribs are slidably connected with the outer cover through connecting rods extending into the top end face of the outer cover. The invention can avoid temperature transient change and has strong adaptability.
Description
Technical Field
The invention relates to the technical field of measuring equipment, in particular to an inertial combination measuring device.
Background
Inertial measurement combining is typically accomplished by assembling the gyroscope, accelerometer, and associated processing circuitry on a single chip. An inertial measurement unit may be defined as "a device that does not require an external reference to measure three-dimensional linear and angular movements". The inertial measurement comprises the steps of sensing linear acceleration and rotation angular velocity in three directions through three gyroscopes which are orthogonally arranged, and obtaining information such as attitude, speed and displacement of a carrier through calculation.
Specifically, one of the commonly used structures at present is to measure the space inertial rotation rate by using an optical fiber sensing technology, and compared with the traditional mechanical gyroscopes, the optical fiber gyroscope has the characteristics of no rotating part, high sensitivity and the like, is the only gyroscope without a movable part in a plurality of gyroscopes, and is widely applied to military and civil use. However, in practical applications, the inertial measurement unit may be affected by a temperature transient, which results in that the optical fiber gyroscope cannot be used normally, and meanwhile, as mentioned above, since the inertial measurement unit is usually assembled by an assembly method, the inertial measurement unit should have greater flexibility, while the conventional inertial measurement unit, in which the entire optical fiber gyroscope is directly mounted and fixed on a specific bracket, needs axes orthogonal to each other, therefore, once the model of the gyroscope is changed, the inertial measurement unit cannot be used, and the universality is extremely poor, because even a positional deviation of 1 mm will seriously affect the measurement accuracy.
Disclosure of Invention
The invention aims to provide an inertial combination measuring device, which greatly reduces the temperature transient influence degree of the inertial combination measuring device and solves the technical problems that a gyroscope cannot be replaced and has poor flexibility and assembly.
In order to achieve the above purpose, the inertial combined measurement device comprises three mutually orthogonal optical fiber gyroscopes, wherein the gyroscopes comprise an outer cover and an inner cover which are all cylindrical, the inner cover is coaxially arranged in the outer cover and is tightly attached to the outer cover, a gyroscope body is fixedly arranged in the center of the inner part of the outer cover, and an annular gap between the gyroscope body and the inner wall of the outer cover is used for the inner cover to be inserted, so that the inner cover covers the gyroscope body;
the top of the top end face of the outer cover is provided with a plurality of pairs of guide blocks which are oppositely arranged, two adjacent pairs of guide blocks are fixedly connected in series through ribs, so that the guide blocks are arranged in an annular array, a moving block is slidably arranged between each pair of guide blocks, the moving direction of the moving block is along the radial direction of the outer cover, the bottom end face of the moving block is provided with a driving thread, the driving thread can be matched with a plane thread formed by the top end face of the outer cover, the ribs are slidably connected with the outer cover through connecting rods extending into the top end face of the outer cover, and when the ribs rotate relative to the outer cover, all the moving blocks synchronously move towards the center of the outer cover and press the top face of an inner cover inserted into the outer cover.
Further, the gyroscope body comprises a reflecting box provided with a reflecting mirror, and a light transmitting hole opposite to the reflecting box is formed in the center of the top of the inner cover, so that the reflecting mirror in the reflecting box and the light transmitting hole are arranged in opposite directions, and the refraction light generated on the reflecting mirror after the light is incident from the light transmitting hole disappears.
Further, an annular gap is formed between the reflection box and the inner side wall of the inner cover, two strands of wound optical fibers are arranged on the inner disc of the annular gap, and the ends of the two optical fibers are respectively led into the reflection box through one groove.
Further, the outer side surface of the outer cover, the inner wall of the inner cover, the outer wall of the reflection box and the inner wall of the strip groove are provided with heat insulation layers.
Further, a circle of annular sliding grooves are formed in the end face of the top end opening of the outer cover, the top end of the connecting rod is fixedly connected with the center of the rib, the bottom end of the connecting rod is spherical and inserted into the annular sliding grooves, and the connecting rod is in sliding fit with the annular sliding grooves and is not separated from the annular sliding grooves all the time.
Further, an arc-shaped baffle plate is arranged at the end part of the moving block, and the baffle plate can be in fit contact with a limiting ring fixedly connected to the top surface of the inner cover.
Further, the guide block is in sliding fit with the moving block through a T-shaped sliding block structure.
Further, the movable block is not contacted with the top end surface of the inner cover, a sliding pin is elastically and telescopically arranged at the bottom end of the baffle plate, and when the movable block moves towards the center of the inner cover, the sliding pin is compressed due to contact with the inner cover, and when the sliding pin slides on the top surface of the inner cover, the inner cover is axially pressed into the outer cover.
Further, the top surface of the inner cover is a conical surface, and the bottom end surface of the sliding pin is in sliding fit with the conical surface.
Further, the invention also comprises a bracket for installing the optical fiber gyroscopes, the bracket comprises three fork strips, the top end of each fork strip is fixedly connected with one optical fiber gyroscope, the included angle between two adjacent fork strips is 45 degrees, and after the three optical fiber gyroscopes are installed, three axes of the three optical fiber gyroscopes are coplanar and vertically intersect at one point.
The beneficial effects are that: according to the gyroscope, the gyroscope body is protected inside by arranging the special quick-dismantling type protection structure, namely the combination of the inner cover and the outer cover, and the corresponding heat insulation layer is additionally arranged, so that the temperature transient influence is reduced as much as possible. Meanwhile, the additionally arranged quick-dismantling type protection structure can realize direct replacement installation and use of different gyroscopes by only making the size of the inner cover large enough to match with the existing mainstream gyroscopes, adaptively and fixedly install the gyroscopes in the inner cover of the invention, and further fixedly arrange the gyroscopes in the outer cover through extrusion contact of the inner cover, so that the adaptability is high, and the design aim of carrying out relevant measurement by assembling the gyroscopes by 'assembling' for inertial combination measurement is more met.
Drawings
The drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.
FIG. 1 is a top view of a fiber optic gyroscope of the present invention;
FIG. 2 is a sectional view A-A of FIG. 1;
FIG. 3 is a top view of the fiber optic gyroscope with the housing removed;
FIG. 4 is a cross-sectional view B-B of FIG. 1 taken through the connecting rod;
FIG. 5 is a schematic view of a structure at a cross section of a moving block;
FIG. 6 is a schematic view of a moving mass compressing an inner cover using a sliding pin;
fig. 7 is a schematic diagram of an inertial measurement unit.
In the figure, an inner cover 1, an outer cover 2, a guide block 3, a moving block 4, a baffle 5, ribs 6, a connecting rod 7, a light hole 8, a plane thread 9, a limiting ring 10, a T-shaped sliding block structure 11, a sliding pin 12, a gyroscope body 13, a strip groove 14, a bracket 15, a fork strip 16, an annular gap 17 and a fiber optic gyroscope 100.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As a specific embodiment, the inertial measurement unit includes three fiber optic gyroscopes 100 orthogonal to each other, i.e., axes of the fiber optic gyroscopes 100 are orthogonal to each other. Referring to fig. 1-2 in detail, the gyroscope includes a cylindrical outer cover 2 and an inner cover 1, similar to a cup-shaped structure, the inner cover 1 is coaxially installed in the outer cover 2 and is tightly connected with the outer cover 2, a gyroscope body 13 is fixedly installed in the center of the inner part of the outer cover 2, and in specific manufacturing, the gyroscope body 13 can be detachably installed through matching of a strip hole and a bolt, an annular gap 17 between the gyroscope body 13 and the inner wall of the outer cover 2 is used for inserting the inner cover 1, so that the inner cover 1 covers the gyroscope body 13, and a protection structure is formed. Meanwhile, as shown in fig. 1, a plurality of pairs of guide blocks 3 which are oppositely arranged are arranged above the end face of the top port of the outer cover 2, two adjacent pairs of guide blocks 3 are fixedly connected in series through ribs 6, and the ribs 6 are preferably made into an arc-shaped strip structure, so that the guide blocks 3 of each pair are surrounded into an annular array. Specifically, a moving block 4 is slidably mounted between each pair of guide blocks 3, and the moving direction of the moving block 4 is along the radial direction of the housing 2, so that all the moving blocks 4 move in a radial manner. As a structural detail, the bottom end surface of the moving block 4 is provided with a driving thread, the driving thread can be matched with a plane thread 9 formed on the top end surface of the outer cover 2 to form a thread pair, the rib 6 is slidably connected with the outer cover 2 through a plurality of connecting rods 7 extending into the top end surface of the outer cover 2, the connecting rods 7 support the rib 6 and then support all the guide blocks 3, so that the guide blocks 3 are positioned above the outer cover 2 and are not contacted with the rib 6, when the annular whole formed by the rib 6 rotates relative to the outer cover 2, all the moving blocks 4 synchronously move towards the center of the outer cover 2, and when the moving to the upper side of the outer cover 2, the top surface of the inner cover 1 inserted into the outer cover 2 can be fully pressed, and then the inner cover 1 is fixed, so that a gyroscope body 13 in the inner cover 1 is protected.
On the basis of the above structure, the gyroscope body 13 particularly mainly comprises a reflection box provided with a reflector, the reflection box can be adaptively designed like a conventional cylinder, the reflection box is the same as or quite designed like the conventional reflection box, and in the embodiment, the center of the top of the inner cover 1 is recommended to be provided with a light hole 8 facing the reflection box as shown in fig. 1 and 3, and the reflector and the light hole 8 in the reflection box are arranged opposite to each other, so that the refraction light generated on the reflector disappears after the light enters from the light hole 8. Specifically, in this embodiment, as shown in fig. 3, an annular gap 17 is formed between the reflective box and the inner side wall of the inner cover 1, two strands of wound optical fibers are wound in the inner disc of the annular gap 17, and the ends of the two optical fibers are respectively introduced into the reflective box through one groove 14, so that the optical fibers are installed and isolated and protected, and a certain external heat insulation effect is achieved. To improve the heat insulation, the outer side of the outer cover 2, the inner wall of the inner cover 1, the outer wall of the reflection box and the inner wall of the strip groove 14 are provided with heat insulation layers.
As shown in fig. 4, the top end of the connecting rod 7 is fixedly connected with the center of the rib 6, and the bottom end of the connecting rod is spherical and inserted into the annular chute, and is in sliding fit with the annular chute and is not separated from the annular chute all the time, so that the annular integral structure formed by the rib 6 can rotate stably, and the structure is more compact and easy to operate.
As a specific implementation detail, as shown in fig. 1, an arc-shaped baffle plate 5 is arranged at the end of the moving block 4, and the baffle plate 5 can be in contact with a limiting ring 10 fixedly connected to the top surface of the inner cover 1, so as to grasp whether the position for pressing and fixing the inner cover 1 is enough. Meanwhile, as shown in fig. 5, the guide block 3 and the moving block 4 in the embodiment are slidably matched through the T-shaped slide block structure 11, so that the structure is simple and the manufacturing is easy.
In order to better press and fix the inner cover 1, in this embodiment, as shown in fig. 6, the moving block 4 is not contacted with the top end surface of the inner cover 1, a sliding pin 12 is elastically and telescopically mounted at the bottom end of the baffle 5, when the moving block 4 moves towards the center of the inner cover 1, the sliding pin 12 is compressed due to contact with the inner cover 1, and when the sliding pin 12 slides on the top surface of the inner cover 1, the inner cover 1 is axially pressed into the outer cover 2, so that the outer cover 2 can be fixed, and a certain vibration reduction effect can be achieved.
In addition, as one of the preferred designs, in order to adjust the firmness of the inner cover 1, the top surface of the inner cover 1 is a conical surface, and the bottom end surface of the sliding pin 12 is in sliding fit with the conical surface, so that the moving block 4 slides and stretches out for different lengths, different axial compression forces on the inner cover 1 can be realized, the structure is more reliable, the compression is realized gradually, and the moving block 4 can be conveniently and smoothly moved on the top end of the inner cover 1 without being suddenly blocked.
Finally, as a specific overall structural design, the optical fiber gyroscope 100 in this embodiment is mounted on a special bracket 15, as shown in fig. 7, the bracket 15 includes three fork strips 16, the top end of each fork strip 16 is fixedly connected with an optical fiber gyroscope 100, the included angle between two adjacent fork strips 16 is 45 °, the height of one fork strip 16 in the middle is generally higher, two of the two sides are lower and symmetrical to each other, in practice, after the three optical fiber gyroscopes 100 are mounted, the three axes of the three optical fiber gyroscopes 100 intersect at a point in two-to-two perpendicular, so that the optical fiber gyroscopes 100 can be ensured to meet the basic position requirement of inertial combination measurement, and the space between each other can be better reduced.
The above disclosure is only a preferred embodiment of the present invention, and it should be understood that the scope of the invention is not limited thereto, and those skilled in the art will appreciate that all or part of the procedures described above can be performed according to the equivalent changes of the claims, and still fall within the scope of the present invention.
Claims (10)
1. An inertial combined measurement unit comprising three mutually orthogonal optical fibre gyroscopes (100), characterized in that: the optical fiber gyroscope (100) comprises an outer cover (2) and an inner cover (1), wherein the outer cover (2) and the inner cover (1) are both cylindrical, the inner cover (1) is coaxially arranged in the outer cover (2) and is tightly attached to the outer cover (2), a gyroscope body (13) is fixedly arranged in the center of the inner part of the outer cover (2), an annular gap (17) between the gyroscope body (13) and the inner wall of the outer cover (2) is used for the inner cover (1) to be inserted, and the inner cover (1) covers the gyroscope body (13);
the utility model discloses a motor vehicle, including dustcoat (2) and cover, terminal surface top of top mouth of dustcoat (2) is equipped with a plurality of pairs of guide blocks (3) of relative arrangement, and adjacent two pairs of guide blocks (3) are established ties through rib (6) rigid coupling to make each enclose into annular array and arrange, slidable mounting has movable block (4) between each pair of guide block (3), and movable block (4) direction of movement is along the radial of dustcoat (2), and the bottom surface of movable block (4) is equipped with the drive screw thread, the drive screw thread can cooperate with planar screw thread (9) that the terminal surface was seted up on top of dustcoat (2), rib (6) are through connecting rod (7) and dustcoat (2) sliding connection that stretch into the terminal surface on dustcoat (2), so that rib (6) rotate relative dustcoat (2), all movable blocks (4) synchronous towards dustcoat (2) central authorities, and push down the cover top surface of inner cover (1) that has been inserted in dustcoat (2).
2. An inertial measurement unit as set forth in claim 1 wherein: the gyroscope body (13) comprises a reflecting box provided with a reflecting mirror, and a light transmitting hole (8) opposite to the reflecting box is formed in the center of the top of the inner cover (1), so that the reflecting mirror in the reflecting box and the light transmitting hole (8) are arranged in opposite directions, and refracted light generated on the reflecting mirror after light enters from the light transmitting hole (8) disappears.
3. An inertial measurement unit as set forth in claim 2 wherein: an annular gap (17) is formed between the reflection box and the inner side wall of the inner cover (1), two strands of wound optical fibers are arranged on an inner disc of the annular gap (17), and the ends of the two optical fibers are respectively led into the reflection box through a groove (14).
4. An inertial measurement unit as claimed in claim 3, wherein: the outer side surface of the outer cover (2) and the inner wall of the inner cover (1), the outer wall of the reflection box and the inner wall of the strip groove (14) are respectively provided with a heat insulation layer.
5. An inertial measurement unit as set forth in claim 4 wherein: the end face of the top end opening of the outer cover (2) is provided with a circle of annular sliding groove, the top end of the connecting rod (7) is fixedly connected with the center of the rib (6), the bottom end of the connecting rod is spherical and inserted into the annular sliding groove, and the connecting rod is in sliding fit with the annular sliding groove and is not separated from the annular sliding groove all the time.
6. An inertial measurement unit as set forth in claim 5 wherein: the end of the moving block (4) is provided with an arc-shaped baffle plate (5), and the baffle plate (5) can be in fit contact with a limiting ring (10) fixedly connected to the top surface of the inner cover (1).
7. An inertial measurement unit as set forth in claim 6 wherein: the guide block (3) is in sliding fit with the moving block (4) through a T-shaped sliding block structure (11).
8. An inertial measurement unit as set forth in claim 6 wherein: the movable block (4) is not in contact with the top end surface of the inner cover (1), a sliding pin (12) is elastically and telescopically arranged at the bottom end of the baffle plate (5), and when the movable block (4) moves towards the center of the inner cover (1), the sliding pin (12) is compressed due to contact with the inner cover (1), and when the sliding pin (12) slides on the top surface of the inner cover (1), the inner cover (1) is axially pressed into the outer cover (2).
9. An inertial measurement unit as set forth in claim 8 wherein: the top surface of the inner cover (1) is a conical surface, and the bottom end surface of the sliding pin (12) is in sliding fit with the conical surface.
10. An inertial measurement unit as claimed in any one of claims 1 to 9, wherein: the optical fiber gyroscope comprises a support (15) for installing the optical fiber gyroscopes (100), wherein the support (15) comprises three fork strips (16), the top end of each fork strip (16) is fixedly connected with one optical fiber gyroscope (100), the included angle between every two adjacent fork strips (16) is 45 degrees, and after the three optical fiber gyroscopes (100) are installed, three axes of the three optical fiber gyroscopes (100) are perpendicular to each other in a point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310827373.5A CN116539034B (en) | 2023-07-07 | 2023-07-07 | Inertia combined measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310827373.5A CN116539034B (en) | 2023-07-07 | 2023-07-07 | Inertia combined measuring device |
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| Publication Number | Publication Date |
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| CN116539034A CN116539034A (en) | 2023-08-04 |
| CN116539034B true CN116539034B (en) | 2023-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310827373.5A Active CN116539034B (en) | 2023-07-07 | 2023-07-07 | Inertia combined measuring device |
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| CN (1) | CN116539034B (en) |
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| Publication number | Publication date |
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| CN116539034A (en) | 2023-08-04 |
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